Classifications

• • G—PHYSICS
  • G05—CONTROLLING; REGULATING
  • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
  • G05D3/00—Control of position or direction
• • G—PHYSICS
  • G05—CONTROLLING; REGULATING
  • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
  • G05B19/00—Programme-control systems
  • G05B19/02—Programme-control systems electric
  • G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
  • G05B19/404—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by control arrangements for compensation, e.g. for backlash, overshoot, tool offset, tool wear, temperature, machine construction errors, load, inertia
• • G—PHYSICS
  • G05—CONTROLLING; REGULATING
  • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
  • G05B2219/00—Program-control systems
  • G05B2219/30—Nc systems
  • G05B2219/41—Servomotor, servo controller till figures
  • G05B2219/41078—Backlash acceleration compensation when inversing, reversing direction
• • G—PHYSICS
  • G05—CONTROLLING; REGULATING
  • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
  • G05B2219/00—Program-control systems
  • G05B2219/30—Nc systems
  • G05B2219/41—Servomotor, servo controller till figures
  • G05B2219/41082—Timer, speed integration to control duration of backlash correction
• • G—PHYSICS
  • G05—CONTROLLING; REGULATING
  • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
  • G05B2219/00—Program-control systems
  • G05B2219/30—Nc systems
  • G05B2219/41—Servomotor, servo controller till figures
  • G05B2219/41084—Compensation speed axis with changing, reversing direction, quadrant circle
• • G—PHYSICS
  • G05—CONTROLLING; REGULATING
  • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
  • G05B2219/00—Program-control systems
  • G05B2219/30—Nc systems
  • G05B2219/41—Servomotor, servo controller till figures
  • G05B2219/41085—Compensation pulses on inversion of direction of rotation, movement

Definitions

• the present invention relates to a servo control device, and more particularly to a servo control device, which can quickly perform a bush and a jiglash correction, and also produces a quadrant projection caused by friction and a backlash. Servo control devices that can be reduced.
• an appropriate acceleration amount (X It has been proposed to add a certain amount of acceleration, such as the amount of acceleration of a class or a fish.)
• the NC unit delivers the backlash correction data to the servo side and performs the backlash acceleration at the same time, the delay between the command and the servo system will occur. If the motor is not completely inverted, it may cause problems such as cutting into the inside of the c. For this reason, the motor rotation direction is actually monitored, and the backlash acceleration is performed at the timing when the rotation direction is reversed. If such a backlash acceleration control is performed when the rotation direction of the motor is reversed, the generation of quadrant protrusions due to mechanical backlash and friction is considerable. Can be reduced.
• the optimal parameters vary depending on the cutting speed, workpiece weight, temperature, cutting surface conditions, and the like. For this reason, even if the quadrant projections can be very small under certain conditions, cutting them under other conditions will increase the size of the quadrant projections or cut them inward. Failure occurs.
• the object of the present invention is to provide the same object even when the machine conditions and cutting conditions are changed.
• the purpose of the present invention is to provide a servo control device capable of canceling the knock lash with a radiator and eliminating the quadrant projection c.
• Another object of the present invention is to allow the backlash acceleration to be terminated at an optimal timing, thereby enabling the amount of the backlash acceleration to be moderated. It is an object of the present invention to provide a servo control device that can set a constant value and eliminate a quadrant projection.
• the above problem is monitored by monitoring the integrated value of a speed feed back, and when the integrated value becomes equal to a predetermined value, the backlash acceleration is increased. Achieved by stopping.
• Fig. 1 is a block diagram of the servo control device of the present invention
• Fig. 2 is a case where the machine tool performs a perfect circular cutting using the servo control device of the present invention. This is the measurement result.
• FIG. 1 is a block diagram of a servo control device according to the present invention.
• 1 Ri Ah in the NC unit, if you generate move command P c for each predetermined sub emission Prin grayed time T s together, click rats push from the correction amount motion command direction Tsu preparative you inversion Output B c .
• 1 2 position error calculator you calculating a difference of the movement command P c and the detected amount of movement P A of ⁇ at Sa down Prin grayed, 1 3 the following formula
• Ba click rats push from correction Timing of discriminator 1 8, the NC unit 1 1 or et given that backed rats push from the correction amount B c when the mobile directive direction is reversed Kioku
• the backlash correction amount Bc is output to the addition unit 20 by the rotation direction inversion detection, and the rotation direction inversion signal RDI is output to the acceleration amount output unit 21. Outputs counter reset signal RST.
• the difference between the movement command P c for each sampling time T s and the detected movement amount P A calculated by the calculation unit 12 is integrated by the error counter 13.
• Ri Do a position deviation E r the Ri Do and Po di Shi Yo emissions gain Lee emissions ⁇ is multiplied by the ⁇ and speed command V C [1 D after tooth that either speed have us in the subsequent speed control unit 1 5 deviation is output to best match for Torque Directive T c t1 D you rotate the mono- ball ⁇ one data.
• the acceleration amount output unit 2 1 outputs a rotation direction reversing signal constant back-La Ri by the RDI Tsu accelerating amount B ACC.
• the adder 22 adds the backlash acceleration amount B ACC and the speed command V CMD, sets the addition result as a true speed command V CMD ′, and sets the speed controller 15 Enter in.
• the speed control unit 15 calculates the speed deviation, outputs a torque command T CMD corresponding to the speed deviation, rotates the servo motor 17, and promptly executes the backlash. Correct.
• mosquitoes c te 1 9 de di data Le mono-volume processing each service down Prin grayed Pulse that occur Pulse da mosquito> et al. Do not want to shown during the time T s of The speed is input as the speed dog dog and integrated.
• the acceleration stop instruction section 20 monitors the integrated value of the counter 19, and outputs an acceleration stop signal ASP when the integrated value reaches 23 when the integrated value reaches a predetermined value, and outputs an acceleration amount output section. 2. Perform 1 to stop the output of the backlash acceleration amount B ACC , and complete the backlash acceleration control.
• the reason for stopping the backlash acceleration when the integrated value reaches 23 is as follows.
• the interim resolution depends on the resolution of the pulse coder, ⁇ ⁇ , ⁇ ⁇
• the integrated value of the velocity feedback VA is monitored, and when the integrated value becomes 2 to S, the backlash acceleration is terminated. That's how it works. By doing so, the end of the backlash acceleration can be quickly performed regardless of a slight change in the load condition or a change in the cutting speed. There can be no mistake, no delay, and a time when the amount of backlash acceleration reaches an appropriate value.
• FIG. 2 shows the measurement results when a machine tool was used to perform a perfect circular cutting using the servo control device according to the present invention, where the dotted line is a perfect circle, and 1 and 2 are clockwise and This is the measurement result when cutting in the counterclockwise direction, in which the quadrant projections and inward cuts were removed at the quadrant switching points 3a to 3d. Then, when the rotation direction of the servo motor is reversed, the pulse acceleration is started, and the integrated value of the speed feedback becomes equal to the predetermined value of 2-3. Since the backlash acceleration is configured to end at a certain time, the backlash acceleration can be performed regardless of slight changes in the machine or load conditions, changes in the cutting speed, etc. The backlash acceleration amount was set to an appropriate value without premature or late ending timing. And and the child you are Ki de, ⁇ You can in this and force you remove the lump Ri switch to the quadrant projections or inside.

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• Engineering & Computer Science (AREA)
• Physics & Mathematics (AREA)
• General Physics & Mathematics (AREA)
• Automation & Control Theory (AREA)
• Human Computer Interaction (AREA)
• Manufacturing & Machinery (AREA)
• Control Of Position Or Direction (AREA)
• Numerical Control (AREA)
• Automatic Control Of Machine Tools (AREA)

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Publications (1)

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Citations (5)

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• 1988
  • 1988-09-30 JP JP63243990A patent/JP2703575B2/ja not_active Expired - Fee Related
• 1989
  • 1989-09-25 US US07/490,564 patent/US5015935A/en not_active Expired - Lifetime
  • 1989-09-25 EP EP89910656A patent/EP0389641B1/de not_active Expired - Lifetime
  • 1989-09-25 KR KR1019900701096A patent/KR930003181B1/ko not_active IP Right Cessation
  • 1989-09-25 DE DE68921606T patent/DE68921606T2/de not_active Expired - Fee Related
  • 1989-09-25 WO PCT/JP1989/000969 patent/WO1990003603A1/ja active IP Right Grant

Patent Citations (5)

Non-Patent Citations (2)

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